A biomimetic toy component

Abstract

This invention relates to the field of biomimetic toy technology, and particularly to a biomimetic toy component. The biomimetic toy component of this invention includes a control module and an execution module. The execution module includes a traction rope, a traction motor, a torso motor, a head assembly, a neck assembly, a chest assembly, and a torso assembly. The head assembly includes a head shell, a head linkage motor, a linkage component, an ear assembly, a tongue assembly, and an ear trigger. The head linkage motor and the linkage component are rotatably connected. One end of the linkage component and the tongue assembly are movably connected to one end of the ear trigger. The other end of the ear trigger is connected to the ear assembly. A traction motor is located on one side of the torso assembly, and a torso motor is located on the other side. The torso motor is rotatably connected to the chest assembly. A pulley component is located on the side of the neck assembly near the traction motor. The traction rope is located on the side of the traction motor near the head assembly, passes through the pulley component, and connects to the traction point. This invention solves the problem of complex structures in existing biomimetic toy drive devices.

Description

Technical Field

[0001] This invention relates to the field of biomimetic toy technology, and in particular to a biomimetic toy component. Background Technology

[0002] In the field of biomimetic toys, to enhance their anthropomorphism and interactivity, they typically need to be able to move multiple parts, such as the head, limbs, cervical spine, thoracic spine, torso, and tail, in a coordinated manner, much like a real pet. A common approach in existing technologies is to install an independent motor for each movable part, controlling the movement of each part individually. However, this design leads to complex internal structures and cumbersome wiring, increasing the difficulty of assembly and maintenance. Furthermore, the lack of an effective synchronization mechanism between multiple drive components easily results in problems such as disordered movement timing and uncoordinated movements during actual operation, thus reducing the smoothness and realism of the toy's movements. Summary of the Invention

[0003] To address the problem of complex structures in existing bionic toy drive devices, this invention provides a bionic toy component.

[0004] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a bionic toy assembly, comprising a control module and an execution module. The execution module includes a traction rope, a traction motor, and a torso motor, as well as a head assembly, a neck assembly, a chest assembly, and a torso assembly connected sequentially. The head assembly includes a head shell, and a head linkage motor, a linkage component, an ear assembly, a tongue assembly, and an ear trigger disposed within the head shell. The head linkage motor and the linkage component are drively connected. The linkage component is movably connected to one end of the tongue assembly and one end of the ear trigger, respectively, and the other end of the ear trigger is movably connected to the ear assembly. The traction motor is disposed on one side of the torso assembly, and the torso motor is disposed on the other side near the chest assembly. The torso motor is rotatably connected to the chest assembly. A pulley is provided on the side of the neck assembly near the traction motor, and a traction point is provided on the side of the head assembly near the traction motor. The traction rope is positioned on the side of the traction motor near the head assembly, passes through the pulley, and connects to the traction point. The control module is signal-connected to the traction motor, torso motor, and head linkage motor. The traction motor controls the traction rope to drive the head assembly to perform pitching motion relative to the neck assembly, and / or, the torso motor controls the chest assembly to perform pitching motion relative to the torso assembly, and / or, the head linkage motor controls the linkage assembly to drive the ear assembly to swing relative to the head shell and the tongue assembly to extend and retract relative to the head shell.

[0005] Preferably, the torso assembly includes a torso main body and a torso connecting part. The torso motor is located at one end of the torso connecting part away from the torso main body. The chest assembly includes a chest main body, a first chest connecting part, and a second chest connecting part. The first chest connecting part is located at opposite ends of the chest main body and is rotatably connected to the torso motor. The second chest connecting part is located on the side of the chest main body away from the torso assembly and is connected to the neck assembly. The plane on the side of the torso assembly away from the traction motor is defined as a horizontal plane. The torso motor controls the chest assembly to perform pitching motion relative to the horizontal plane in a direction closer to the torso assembly.

[0006] Preferably, the second chest connection includes a rotatably connected neck motor and a neck rotating disk, the neck motor being connected to the chest body; the neck assembly includes a neck body, a first neck connection, and a neck fixing part, the neck body being connected to the neck rotating disk, the first neck connection being disposed at opposite ends of the neck body away from the chest assembly, and the first neck connection being rotatably connected to the head assembly, the neck fixing part having a clearance channel, the wheel slide being disposed within the clearance channel, the neck motor being signal-connected to the control module, and the neck motor driving the neck assembly to rotate relative to the chest assembly along the circumferential direction of the neck rotating disk.

[0007] Preferably, the head assembly further includes a head swing motor, a head connector, and a head fixing body. The head fixing body is disposed inside the head housing, the head swing motor is disposed inside the head fixing body, and the linkage component is disposed on one side of the head fixing body. The head swing motor is signal-connected to the control module. The head swing motor is disposed between the head housing and the head connector, and is rotatably connected to the head connector. The head swing motor drives the head housing to perform reciprocating swing motion towards the opposite sides of the neck assembly. The head connector includes a head connecting main body and a head connecting rotating part. The head connecting main body has a mounting groove on the side near the traction motor, and the traction point is disposed in the mounting groove. The first neck connecting part has a rotating groove at the end away from the neck main body. The head connecting rotating parts are respectively disposed at opposite ends of the head connecting main body, and the head connecting rotating parts and the rotating groove are rotatably connected. When the traction rope is applied or canceled, the head assembly performs pitching motion relative to the neck.

[0008] Preferably, the head assembly further includes an eye assembly, which includes an eyelid, an eye linkage, an eye sensor switch, an eye rotation cam, and an eye rotation motor. The eye rotation motor is disposed inside the head fixing body, and its opposite ends pass through the head fixing body and are rotatably connected to one end of the eye rotation cam. The eye sensor switch is disposed on the head fixing body corresponding to the eye rotation cam. The other end of the eye rotation cam is sleeved on the eye linkage and rotatably connected to the eye linkage. The eyelid is disposed at the end of the eye linkage away from the eye rotation cam. The eye rotation cam drives the eyelid to swing relative to the head housing.

[0009] Preferably, the linkage assembly includes a linkage cam, a first link, and a second link. The head linkage motor is disposed within the head fixing body and is connected to the linkage cam via a transmission. The linkage cam has a sliding groove on the side near the head linkage motor. One end of the first link is housed in the sliding groove, and the other end is movably connected to the ear trigger. The ear trigger is disposed at the end away from the first link, which is the ear assembly. One end of the second link is housed in the sliding groove, and the other end is connected to the tongue assembly.

[0010] Preferably, the head linkage motor includes a linkage drive motor and a linkage drive motor shaft disposed on one side of the linkage drive motor. The linkage cam includes a connected wheel portion and a connecting portion. The connecting portion has a motor shaft receiving groove on the side away from the wheel portion. The linkage drive motor shaft extends into the motor shaft receiving groove and connects to the connecting portion. The toy linkage assembly also includes a limiting member. The limiting member is disposed on the same side of the head fixing body where the linkage assembly is disposed. The limiting member has a limiting rolling groove corresponding to the linkage cam. The limiting rolling groove has a limiting opening corresponding to the first connecting rod. The limiting member has a limiting channel corresponding to the second connecting rod. The linkage cam rotates within the limiting rolling groove. The connecting portion has a circular radial cross-section at the end near the wheel portion. The midpoint of the circle is set as the rotation center point of the wheel portion. The wheel portion has a sliding groove on the side near the connecting portion. The distances between each point on the inner wall of the sliding groove and the rotation center point are not equal.

[0011] Preferably, the first connecting rod includes a first rod body, a first slider, and a first drive block. The first rod body is disposed radially along the connecting portion on the side of the wheel portion near the head linkage motor. The first slider is disposed on the side of the first rod body away from the head linkage motor and is slidably connected to the sliding groove. The first drive block is disposed on the same side of the first rod body where the other end of the first slider is disposed and is spaced apart from the first slider. The first drive block is slidably connected to the ear trigger. The second connecting rod includes a second rod body, a second slider, and a tongue trigger. The second rod body includes a second central rod and second connecting rods respectively disposed at both ends of the second central rod. At least one second connecting rod has a second slider disposed on the side of the second connecting rod away from the second central rod corresponding to the sliding groove, and the second slider is slidably connected to the sliding groove. The tongue trigger is disposed on the side of the second central rod away from the linkage cam. The head assembly also includes a limiting member, which has a limiting channel corresponding to the second connecting rod. When the second slider slides in the sliding groove, the second connecting rod drives the tongue assembly to perform telescopic movement relative to the head housing.

[0012] Preferably, the ear assembly includes an ear rotating rod and an ear portion disposed on the end face of the ear rotating rod. The ear trigger includes an ear trigger main body and an ear trigger connector connected together. The ear trigger has an ear trigger groove. The first driving block is accommodated in the ear trigger groove and slidably connected to the ear trigger main body. The ear trigger connector is sleeved on the ear rotating rod. When the first driving block slides in the ear trigger groove, the ear trigger drives the ear rotating rod to rotate relative to the head shell to implement the ear assembly's rotational swing relative to the head shell.

[0013] Preferably, the bionic toy assembly further includes an ear sensor switch and a tongue sensor switch. The control module is electrically connected to the head linkage motor, the ear sensor switch, and the tongue sensor switch, respectively. The control module is disposed inside the head shell. The ear sensor switch is disposed on one side of the head fixing body corresponding to the ear assembly, and the tongue sensor switch is disposed on one side of the head fixing body corresponding to the tongue assembly.

[0014] Compared with the prior art, the biomimetic toy component provided by the present invention has the following beneficial effects: This invention provides a biomimetic toy assembly, which includes a control module and an execution module. The execution module includes a traction rope, a traction motor, a torso motor, and a head assembly, a neck assembly, a chest assembly, and a torso assembly that are sequentially and movably connected. The head assembly includes a head shell, and a head linkage motor, a linkage component, an ear assembly, a tongue assembly, and an ear trigger disposed within the head shell. The head linkage motor and the linkage component are rotatably connected, and the linkage component is movably connected to one end of the tongue assembly and one end of the ear trigger, respectively. The other end of the ear trigger is movably connected to the ear assembly. A traction motor is disposed on one side of the torso assembly, and a torso assembly is disposed on the other side near the chest assembly. The torso motor is rotatably connected to the chest assembly. A pulley is located on the side of the neck assembly near the traction motor, and a traction point is located on the side of the head assembly near the traction motor. A traction rope is located on the side of the traction motor near the head assembly, passes through the pulley, and connects to the traction point. The control module is connected to the traction motor, torso motor, and head linkage motor respectively. The traction motor controls the traction rope to drive the head assembly to pitch relative to the neck assembly, and / or, the torso motor controls the chest assembly to pitch relative to the torso assembly, and / or, the head linkage motor controls the linkage assembly to drive the ear assembly to swing relative to the head shell and the tongue assembly to extend and retract relative to the head shell. This embodiment uses the traction motor, torso motor, and head linkage motor to achieve four degrees of freedom in bionic movements: head pitch, chest pitch, ear swing, and tongue extension and retraction. This significantly reduces the number of drive components, making the internal layout of the bionic toy simpler, the cable connections easier, and improving the overall reliability and smoothness of the bionic toy's movements. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1a This is a side view of the biomimetic toy component provided by the present invention.

[0017] Figure 1b This is a second side view of the biomimetic toy component provided by the present invention.

[0018] Figure 1c yes Figure 1b A magnified view of region n in the middle.

[0019] Figure 2a This is a partial structural schematic diagram of the head assembly provided by the present invention.

[0020] Figure 2bThis is a schematic diagram of the head assembly provided by the present invention.

[0021] Figure 3 This is a structural schematic diagram of the biomimetic toy component provided by the present invention.

[0022] Figure 4a This is a schematic diagram of the neck assembly provided by the present invention.

[0023] Figure 4b yes Figure 4a A magnified view of region a in the middle.

[0024] Figure 5 This is a partial structural schematic diagram of the head assembly provided by the present invention.

[0025] Figure 6a This is a schematic diagram of the head connector in the head assembly provided by the present invention.

[0026] Figure 6b This is a schematic diagram of the chest component provided by the present invention.

[0027] Figure 6c This is a partial structural diagram of the head assembly provided by the present invention. Figure 3 .

[0028] Figure 6d This is a schematic diagram of the structure of the eye component provided by the present invention.

[0029] Figure 6e This is a partial structural schematic diagram of the head assembly provided by the present invention, shown in Figure 4.

[0030] Figure 6f This is a schematic diagram of the chin component provided by the present invention.

[0031] Figure 7 This is a schematic diagram of a portion of the biomimetic toy component provided by the present invention.

[0032] Figure 8 This is a schematic diagram of the linkage cam in the head assembly provided by the present invention.

[0033] Figure 9 This is a front view of the linkage cam in the head assembly provided by the present invention.

[0034] Figure 10 This is a schematic diagram of the tongue component driving mechanism in the head assembly provided by the present invention.

[0035] Figure 11 This is a schematic diagram of the head linkage motor drive in the head assembly provided by the present invention.

[0036] Figure 12 This is an exploded view of the linkage component and ear component in the head assembly provided by the present invention.

[0037] Figure 13 This is an exploded view of the linkage component and ear component in the head assembly provided by the present invention.

[0038] Figure 14 This is an exploded view of the linkage component and tongue component in the head assembly provided by the present invention.

[0039] Figure 15 This is a partial structural diagram of the head assembly provided by the present invention. Figure 5 . Explanation of reference numerals in the attached diagram: 100. Bionic toy components; 10. Execution module; 20. Control module; 12. Head linkage motor; 13. Linkage component; 14. Ear component; 15. Tongue component; 16. Ear trigger; 17. Limiting component; 18. Ear sensor switch; 19. Tongue sensor switch; 21. Traction rope; 22. Traction motor; 23. Torso motor; 24. Head component; 25. Neck component; 26. Chest component; 27. Torso component; 28. Roller pulley; 29. ​​Traction point; 30. First reset component; 31. Second reset component; 32. Traction pulley; 121. Linkage drive motor; 122. Linkage drive motor shaft; 131. Linkage cam; 132. First connecting rod; 133. Second connecting rod; 141. Ear rotation rod; 142. Ear part; 161. Ear trigger main body; 162. Ear trigger connector; 163. Ear trigger slide; 240. Head fixing main body; 241. Head shell; 242. Head connector; 243. Head swing motor; 244. Eye assembly; 245. Chin assembly; 251. Neck main body; 252. Neck first connecting part; 253. Clearance channel; 254. Neck fixing part; 255. Rotation groove; 261. Chest main body; 262. Chest first connecting part; 263. Chest second connecting part; 271. Torso main body; 272. Torso connecting part; 1310. Sliding groove; 1311. Wheel section; 1312. Connecting part; 1313. Motor shaft receiving groove; 1314. Rotation center point; 1321. First rod; 1322. First slider; 1323. First drive block; 1331. Second rod; 1332. Second slider; 1333. Tongue trigger; 2421. Head connecting to main body; 2422. Head connecting to rotating part; 2423. Mounting slot; 2441. Eyelid part; 2442. Eye connecting rod; 2443. Eye rotating cam; 2444. Eye rotating motor; 2445. Eye sensor switch; 2451. Chin part; 2452. Chin transmission component; 2453. Chin rotating motor; 2454. Chin sensor switch; 2455. Chin swing component; 2456. Chin swing limit component; 2631. Neck motor; 2632. Neck rotating disk; 13311, Second center rod; 13312, Second connecting rod. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0041] It should be noted that the terms "first" and "second" in the specification and claims of this invention are used to distinguish different objects, rather than to describe a specific order.

[0042] It should be noted that when a component is said to be "fixed to" another component, it can be directly attached to the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0043] In this invention, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing the invention and its embodiments, and are not intended to limit the indicated devices, elements, or components to having a specific orientation, or to be constructed and operated in a specific orientation.

[0044] Furthermore, in addition to indicating direction or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in certain situations to indicate a dependency or connection. Those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances.

[0045] Furthermore, the terms "installation," "setup," "equipped with," "connection," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of these terms in this invention according to the specific circumstances.

[0046] Please combine Figure 1a , Figure 1b , Figure 1c , Figure 2a , Figure 3 , Figure 4a and Figure 4b This invention provides a bionic toy assembly 100, which includes a control module 20 and an execution module 10. The execution module 10 includes a traction rope 21, a traction motor 22, a torso motor 23, and a head assembly 24, a neck assembly 25, a chest assembly 26, and a torso assembly 27 connected sequentially. The head assembly 24 includes a head shell 241, and a head linkage motor 12, a linkage component 13, an ear assembly 14, a tongue assembly 15, and an ear trigger 16 disposed within the head shell 241. The head linkage motor 12 and the linkage component 13 are connected by a drive, and the linkage component 13 is movably connected to one end of the tongue assembly 15 and one end of the ear trigger 16, respectively. The other end of the ear trigger 16 is movably connected to the ear assembly 14. The torso assembly 27 has the traction motor 22 on one side and the torso on the other side near the chest assembly 26. Motor 23, torso motor 23 is rotatably connected to chest component 26, neck component 25 is provided with pulley 28 on the side near traction motor 22, head component 24 is provided with traction point 29 on the side near traction motor 22, traction rope 21 is provided on the side of traction motor 22 near head component 24, passes through pulley 28 and connects to traction point 29; control module 20 is connected to traction motor 22, torso motor 23 and head linkage motor 12 respectively. Traction motor 22 controls traction rope 21 to drive head component 24 to perform pitching motion relative to neck component 25, and / or, torso motor 23 controls chest component 26 to perform pitching motion relative to torso component 27, and / or, head linkage motor 12 controls linkage component 13 to drive ear component 14 to perform swinging motion relative to head shell 241 and tongue component 15 to perform telescoping motion relative to head shell 241.

[0047] Understandably, this embodiment uses only one traction motor 22 and one torso motor 23 for large-scale posture control of the torso and head. The traction motor 22 is connected to the traction point 29 of the head assembly 24 via a traction rope 21, which changes the direction of tension with the help of a pulley 28 on the neck assembly 25. When the traction motor 22 retracts, the traction rope 21 directly pulls the head assembly 24 to rotate around its connection point with the neck assembly 25, achieving a pitching motion of the head relative to the neck, such as simulating an animal nodding. Simultaneously, the torso motor 23 is directly rotatably connected to the chest assembly 26, driving the chest assembly 26 to pitch relative to the neck assembly 25, such as simulating an animal extending or retracting its neck or puffing out its chest. By using only one traction motor 22 and one torso motor 23, composite motion control of the head and chest (two main parts) can be achieved, eliminating the need for separate motors at the neck, thoracic vertebrae, and other joints. This simplifies the mechanical transmission structure within the torso, chest, and neck, reduces the number of parts, and lowers assembly difficulty and manufacturing costs. Furthermore, for the intricate biomimetic movements inside the head, a head-linked motor 12 is incorporated. This motor, via a linkage component 13, simultaneously drives the ear component 14 to swing and the tongue component 15 to extend and retract. This single head-linked motor 12 controls the coordinated movement of two facial organs, avoiding the need for separate motors for the ears and tongue. In this embodiment, the control module 20 is signal-connected to the traction motor 22, the torso motor 23, and the head-linked motor 12, allowing for independent or coordinated control of these three motors. For example, when simulating the affectionate posture of a pet lowering its head to forage and sticking out its tongue, the control module 20 can simultaneously activate the traction motor 22 to tilt the head up and down, the torso motor 23 to extend or retract the chest and neck, and the head-linked motor 12 to swing the ears and extend the tongue. Each motor performs its specific function, yet the overall movement is coordinated. Compared to the traditional approach of setting an independent motor for each moving part, this embodiment uses a traction motor 22, a torso motor 23, and a head linkage motor 12 to achieve four degrees of freedom of bionic movement: head pitch, chest pitch, ear swaying, and tongue extension and retraction. This greatly simplifies the number of driving components, making the internal layout of the bionic toy simpler and the cable connection easier, thus improving the overall reliability and smoothness of the bionic toy.

[0048] It should be noted that the descriptions of angles in this embodiment are merely illustrative examples to clearly illustrate the more lifelike posture of the bionic toy component 100 when performing actions. The actual rotatable angles of each element or part in the bionic toy component 100 can be adjusted according to the designer's actual needs, which will not be elaborated upon further below. The control module 20 in this embodiment should also be referred to. Figure 3 .

[0049] Furthermore, please combine Figure 1a , Figure 6b and Figure 7The torso assembly 27 includes a torso main body 271 and a torso connecting part 272. The torso motor 23 is located at one end of the torso connecting part 272 away from the torso main body 271. The chest assembly 26 includes a chest main body 261, a chest first connecting part 262 and a chest second connecting part 263. The chest first connecting part 262 is located at opposite ends of the chest main body 261 and is rotatably connected to the torso motor 23. The chest second connecting part 263 is located on the side of the chest main body 261 away from the torso assembly 27 and is connected to the neck assembly 25. The plane on the side of the torso assembly 27 away from the traction motor 22 is set as a horizontal plane. The torso motor 23 controls the chest assembly 26 to perform pitching motion relative to the horizontal plane in the direction closer to the torso assembly 27.

[0050] Understandably, in this embodiment, the plane on the side of the torso component 27 away from the traction motor 22 is a horizontal plane. The torso motor 23 controls the chest component 26 to perform pitching motion relative to this horizontal plane in the direction closer to the torso component 27, so that the movement of the chest component 26 can reproduce the continuous posture of a pet or animal "lowering its head and extending or retracting its neck". When using it, the user can observe that the chest component 26 swings downward smoothly without tilting upward or tilting left or right, enhancing the realism of the biomimetic movement. Understandably, the first connecting part 262 of the chest is set at opposite ends, providing a dual-pivot rotation axis for the chest component 26. Compared with a single-sided connection, the double-sided symmetrical connection increases the contact area and the ability to distribute force, so that the chest component 26 can maintain a stable rotational posture when bearing the weight of the head and neck components 25 and the tension of the traction rope 21, and is not prone to deformation or loosening. In this embodiment, one end of the first connecting part 262 is connected to the output end of the torso motor 23, so that the rotation of the torso motor 23 can drive the chest component 26 to rotate relative to the torso component. The plane on the side of the torso assembly 27 away from the traction motor 22 is set as a horizontal plane, and the rotation direction of the chest assembly 26 relative to the torso assembly 27 is towards or away from the horizontal plane, thereby enabling the toy's neck and head to achieve a biomimetic posture similar to that of a real pet's neck, such as "lowering down" or "raising up".

[0051] Furthermore, please combine Figure 3 , Figure 4a , Figure 4b and Figure 6bThe second chest connection 263 includes a neck motor 2631 and a neck rotating disk 2632 rotatably connected. The neck motor 2631 is connected to the chest body 261. The neck assembly 25 includes a neck body 251, a first neck connection 252, and a neck fixing part 254. The neck body 251 is connected to the neck rotating disk 2632. The first neck connection 252 is located at opposite ends of the neck body 251 away from the chest assembly 26, and is rotatably connected to the head assembly 24. The neck fixing part 254 has a clearance channel 253, and a roller 28 is provided in the clearance channel 253. The neck motor 2631 is signal-connected to the control module 20, and the neck motor 2631 drives the neck assembly 25 to rotate relative to the chest assembly 26 along the circumferential direction of the neck rotating disk 2632.

[0052] Understandably, the neck motor 2631 drives the neck rotating disk 2632 to rotate. The neck rotating disk 2632 is connected to the neck component 25, thereby causing the neck component 25 to rotate circumferentially along the neck rotating disk 2632. This gives the neck component 25 an independent circumferential rotational degree of freedom, enabling it to simulate natural movements such as shaking its head left and right and rotating its neck, enriching the expressiveness of bionic postures. Simultaneously, the neck motor 2631 is integrated into the second connecting part 263 of the chest, forming a modular structure with the chest component 26. This eliminates the need for an additional independent neck rotation drive module, reducing the number of parts and assembly complexity. Furthermore, the rotation of the neck component 25 does not interfere with the traction rope 21, allowing the head component 24 and the neck component 25 to work together to achieve multi-degree-of-freedom compound movements, such as shaking and nodding simultaneously, further enhancing the realism and interactive fun of the bionic toy's movements.

[0053] Furthermore, please combine Figure 1a , Figure 3 , Figure 5 and Figure 6a The head assembly 24 also includes a head swing motor 243, a head connector 242, and a head fixing body 240. The head fixing body 240 is disposed inside the head housing 241. The head swing motor 243 is disposed inside the head fixing body 240. The linkage component 13 is disposed on one side of the head fixing body 240. The head swing motor 243 is signal-connected to the control module 20. The head swing motor 243 is disposed between the head housing 241 and the head connector 242. The head swing motor 243 is rotatably connected to the head connector 242. The head swing motor 243 drives the head housing 241 to perform reciprocating swing motion towards the opposite sides of the neck assembly 25.

[0054] It should be understood that the head-swinging motor 243 adds a degree of freedom for the head to swing left and right. The head-swinging motor 243 is directly positioned between the head housing 241 and the head connector 242, eliminating the need for an additional gearbox or linkage mechanism to change the direction of movement. The head-swinging motor 243 drives the head to swing left and right. The control module 20 can independently control the head-swinging motor 243, enabling it to work in conjunction with the traction motor 22, the torso motor 23, and the head linkage motor 12. For example, the control module 20 can simultaneously activate the traction motor 22 to tilt the head downwards and activate the head-swinging motor 243 to slightly swing the head left and right, simulating the realistic behavior of a pet sniffing and searching for a source of air; or it can activate the head-swinging motor 243 alone to simulate the alert posture of a pet turning its head to look around after hearing a sound. Without significantly increasing structural complexity, this enriches the movement dimensions of the bionic toy's head, enhancing the product's interactive fun and bionic realism.

[0055] Specifically, the head connector 242 includes a head connector main body 2421 and a head connector rotating part 2422. The head connector main body 2421 has a mounting groove 2423 on the side near the traction motor 22, and a traction point 29 is provided in the mounting groove 2423. The neck first connector 252 has a rotating groove 255 at the end away from the neck main body 251. The head connector rotating parts 2422 are respectively provided at opposite ends of the head connector main body 2421, and the head connector rotating parts 2422 and the rotating groove 255 are rotatably connected. When the traction rope 21 is used for traction, the head assembly 24 performs pitching motion relative to the neck assembly 25 in the direction closer to the torso assembly 27.

[0056] Understandably, the traction point 29 is located on the side of the head connecting body 2421 near the traction motor 22. With the same traction force, a longer lever arm results in a greater rotational torque. In this embodiment, by arranging the traction point 29 away from the rotation axis, the traction motor 22 only needs to output a smaller pulling force to drive the head assembly 24 to complete a larger pitch motion, thereby reducing the load requirements on the motor and saving energy. Simultaneously, the mounting groove 2423 defines the direction of the traction rope 21, ensuring that the point of force application remains constant during each traction, thus guaranteeing the accuracy of the head pitch angle. The head connecting rotating parts 2422 are respectively located at opposite ends of the neck body 251, forming a bilaterally symmetrical rotating connection with the rotating groove 255 on the first neck connecting part 252. This bilateral rotating structure makes the force on the head assembly 24 more even during pitch motion, with synchronous rotation on both sides, effectively suppressing any lateral swaying or twisting of the head during movement. In addition, the cooperation between the rotating groove 255 and the rotating part forms a stable shaft hole support, which increases the contact area, disperses local pressure, and enables the head assembly 24 to maintain a stable rotation trajectory, making it less prone to loosening or wear.

[0057] Furthermore, please combine Figure 1a , Figure 6b and Figure 7 The bionic toy assembly 100 also includes at least one first reset member 30. One end of the first reset member 30 is connected to the chest assembly 26, and the other end is connected to the torso assembly 27. There is at least one first reset member 30. Specifically, one end of the first reset member 30 is connected to the chest body 261, and the other end is connected to the torso body 271. The first reset member 30 provides a pre-tensioning force for the chest assembly 26 to move toward the torso assembly 27. It is understood that in this embodiment of the invention, the number of first reset members 30 is at least one, but multiple members can be provided according to actual needs to ensure a uniform distribution of the reset force. The function of the first reset member 30 is to prevent the torso assembly from rotating directly toward the horizontal plane under gravity and collapsing, and it is always in a stretched state.

[0058] Furthermore, please combine Figure 4a , Figure 6a and Figure 7 The bionic toy assembly 100 also includes a second reset member 31, one end of which is connected to the head assembly 24 and the other end of which is connected to the neck assembly 25. Specifically, there is at least one second reset member 31, one end of which is connected to the head body 241 and the other end of which is connected to the neck body 251.

[0059] Understandably, when the traction rope 21 is pulled, the second reset member 31 is in a stretched state. When the traction rope 21 releases the stretched second reset member 31, it forces the head assembly 24 to lower, so that the toy simulates a head-down posture. There is no need to set up an additional drive motor or complex transmission mechanism for the head assembly 24 to lower its head, which simplifies the overall structure and reduces manufacturing costs and control difficulty.

[0060] For specific details, please refer to... Figure 1a and Figure 1b For example, the pitch angles of the neck assembly 25 and the chest assembly 26 relative to the horizontal plane range from 30° to 90°.

[0061] Understandably, regarding the realism of biomimetic postures, the range of 30° to 90° covers the actual joint movement angles of common quadrupedal animals and some anthropomorphic dolls in everyday postures such as bowing, neck extension or retraction, bending, and foraging. Pitch angles below 30° are difficult for users to perceive intuitively, resulting in unclear movement effects; while pitch angles above 90° exceed the physiological limits of most animals' cervical and thoracic vertebrae, making the movements appear exaggerated and distorted. This embodiment selects 30° as the minimum angle, ensuring sufficient visual recognition for each pitch movement, clearly conveying the intention of "bowing down" or "neck extension or retraction"; selecting 90° as the maximum angle provides sufficient range of motion for special postures, while avoiding unnatural mechanical collisions such as the head component 24 touching the torso component 27 due to excessive angle. When the pitch angle does not exceed 90°, the traction rope 21 always maintains effective contact with the pulley component 28, preventing it from disengaging from the pulley groove due to excessive angle, thus ensuring the stability of the transmission path. Meanwhile, even at a 90° extreme pitch angle, the distal ends of the neck assembly 25 and chest assembly 26 maintain a safe clearance from the torso assembly 27, preventing structural damage from hard impacts. By limiting the pitch angle to 30° to 90°, the biomimetic toy assembly 100 of this embodiment can present a vivid and natural animal posture. Optionally, the pitch angle range of the neck assembly 25 and chest assembly 26 relative to the horizontal plane is 45°-60° or 50°-80°.

[0062] For specific details, please refer to... Figure 1a and Figure 1b For example, the pitch angle of the head assembly 24 relative to the horizontal plane ranges from 40° to 100°.

[0063] Understandably, in daily interactions with common pet dogs and cats, this embodiment selects 40° as the minimum angle to ensure that every active tilting motion can be intuitively perceived by the user, clearly conveying the toy's interactive intent. The maximum angle of 100° provides sufficient range of motion for extreme postures, allowing the bionic toy to express richer emotional layers and action details. In conjunction with the 30°-90° range of the neck assembly 25 and chest assembly 26, the 40°-100° range of the head assembly 24 makes the overall body posture more consistent with the animal's physiological curves. For example, when the head tilts to 100°, the neck and chest also tilt in tandem, simulating a complete curled-up or sniffing posture, enhancing the realism of the bionic action. When the head tilt angle does not exceed 100°, excessive head rotation will prevent the leash 21 from slipping out of the pulley groove or from rubbing and cutting against the neck assembly 25. Meanwhile, the upper limit of 100° is precisely controlled within the elastic limit of the second reset member 31, ensuring that the reset member can completely return to its original shape after each extreme pitch, without plastic deformation or fatigue fracture. The bionic toy component 100 of this embodiment can stably present natural head posture changes. Optionally, the pitch angle range of the head component 24 relative to the horizontal plane can also be 50°-80° or 60°-70°.

[0064] For specific details, please refer to... Figure 1a and Figure 1b For example, the neck assembly 25 rotates relative to the chest assembly 26 in an angle range of -180° to 180°.

[0065] Understandably, the neck can rotate half a circle to the left or right, achieving a complete 360° omnidirectional rotation. A 180° unilateral rotation angle is sufficient to simulate the extreme posture of most quadrupeds looking back while their bodies are stationary. For example, canines typically twist their necks by about 90° to 120°, while the 180° in this embodiment provides ample margin, even simulating the extraordinary head-turning ability of owls, enhancing the expressiveness and fun of the biomimetic toy. Furthermore, the limiting of the rotation angle in this embodiment avoids the problem of the traction rope 21 becoming tangled and knotted due to unlimited neck rotation. When the neck rotation reaches its limit angle, the mechanical limiting structure prevents further rotation. At this point, the control module 20 can detect the limit position by sensing changes in motor current or a position sensor, thereby controlling the motor to rotate in the opposite direction to ensure that the traction rope 21 is not damaged due to excessive twisting. Meanwhile, the limitation of the circumferential rotation range of the neck rotating disc 2632 ensures that the pulley 28 disposed in the neck fixing part clearance channel and the traction rope 21 passing through it maintain the correct relative position throughout the entire neck rotation. The traction rope 21 will not come out of the groove of the pulley 28, nor will it rub or cut against other moving parts of the neck assembly 25. Optionally, the angle range of rotation of the neck assembly 25 relative to the chest assembly 26 can also be -120°-150° or -90°-90°.

[0066] For specific details, please refer to... Figure 1a and Figure 1b For example, the head swing motor 243 drives the head housing 241 to swing relative to the horizontal plane at an angle range of -30° to 30°.

[0067] It should be understood that the head swing motor 243 drives the head housing 241 to swing 30° to the left or right relative to the vertical plane. This angle range complements the 180° range of neck rotation: the neck is responsible for large-amplitude head turning movements, such as looking back or looking around, while the head swing motor 243 is responsible for small, rapid head tilting or shaking movements, such as tilting the head when confused or quickly turning the head to locate a sound. Swings of less than 30° are not easily noticed from a distance, while 30° swings have sufficient visual recognition to clearly convey the intention of "shaking the head" or "tilting the head." At the same time, the limitation of head swing in this embodiment ensures that the head housing 241 will not collide with the neck assembly 25 or chest assembly 26 during swinging, avoiding accelerated wear of the connecting structure due to excessive swinging. In addition, the head swing motor 243 can be a low-power micro motor, which is small in size and easy to integrate in the limited space between the head housing 241 and the head connector 242. The motor has a small load and low energy consumption, which helps to extend battery life.

[0068] Furthermore, please combine Figure 5 , Figure 6c and Figure 6d The head assembly also includes an eye assembly, which includes an eyelid portion 2441, an eye connecting rod 2442, an eye sensor switch 2445, an eye rotating cam 2443, and an eye rotating motor 2444. The eye rotating motor 2444 is disposed inside the head fixing body 240. The two opposite ends of the eye rotating motor 2444 pass through the head fixing body 240 and are rotatably connected to one end of the eye rotating cam 2443. The eye sensor switch 2445 is disposed on the head fixing body 240 corresponding to the eye rotating cam 2443. The other end of the eye rotating cam 2443 is sleeved on the eye connecting rod 2442 and rotatably connected to the eye connecting rod 2442. The eyelid portion 2441 is disposed at the end of the eye connecting rod 2442 away from the eye rotating cam 2443. The eye rotating cam 2443 drives the eyelid portion 2441 to swing relative to the head housing 241.

[0069] Understandably, traditional bionic toys often require a separate micro-motor and a matching reduction mechanism for each eye to achieve blinking. This not only significantly increases the number of parts and wiring complexity within the head shell, but also forces the control program to coordinate the start, stop, and direction of multiple motors simultaneously, easily leading to asynchronous eyelid movements and affecting the realism of the bionic motion. This embodiment integrates an eye rotation motor 2444 inside the head fixing body 240. The eye rotation motor 2444 adopts a double-ended output shaft design, with its opposite ends passing through the head fixing body 240 and rotatably connected to one end of an eye rotation cam 2443. When the eye rotation motor 2444 is powered, its power is directly transmitted to the eye rotation cams 2443 on both sides, driving them to rotate synchronously. The other end of each eye rotation cam 2443 is fitted onto and rotatably connected to an eye connecting rod 2442, while the end of the eye connecting rod 2442 away from the eye rotation cam 2443 is fixed to the eyelid part 2441. During rotation, the eye-rotating cam 2443 pushes the eye-connecting rod 2442, which in turn drives the eyelid 2441 to precisely swing up and down around its connecting axis with the head shell 241. The eye-rotating motor 2444 simultaneously drives both eyelids 2441 to perform the swinging motion, ensuring absolute synchronization of the eyelid movements and avoiding deviations caused by asynchronous control of two independent motors. This makes the bionic toy's posture more natural and coordinated when blinking or closing its eyes. Simultaneously, the eye-sensing switch 2445 is mounted on the head fixing body 240 corresponding to the eye-rotating cam 2443. When the eye-rotating cam 2443 rotates to a specific angle and triggers the switch, the control module 20 can obtain the extreme position information of the eyelid 2441, thereby instructing the eye-rotating motor 2444 to stop or reverse, achieving precise control of the eyelid swing amplitude and preventing structural damage due to excessive rotation.

[0070] Furthermore, please combine Figure 5 , Figure 6e and Figure 6f The head assembly also includes a chin assembly, which includes a chin portion 2451, a chin transmission component 2452, a chin sensor switch 2454, and a chin rotation motor 2453. The chin rotation motor 2453 is disposed inside the head fixing body 240. One end of the chin transmission component 2452 engages with the chin rotation motor 2453, and the other end is provided with a chin swing portion 2455. The head fixing body 240 is provided with a chin sensor switch 2454 and a chin swing limiter 2456 corresponding to the chin. The chin portion 2451 is disposed at the end of the chin transmission component 2452 away from the chin rotation motor 2453. The chin rotation motor 2453 drives the chin portion 2451 to swing relative to the head housing 241.

[0071] Understandably, when the chin rotation motor 2453 is powered on, the rotational power is precisely transmitted to the chin transmission component 2452 through meshing gears. Since the end of the chin transmission component 2452 away from the chin rotation motor 2453 is equipped with a chin swinging part 2455, and the chin part 2451 is fixed to this end, the chin transmission component 2452 will drive the chin part 2451 to swing up and down around its connecting axis with the head shell 241, thereby realizing the opening and closing of the bionic toy's mouth. At the same time, the head fixing body 240 is equipped with a chin induction switch 2454 and a chin swing limiting component 2456 corresponding to the chin. The chin swing limiting component 2456, as a mechanical hard limit, defines the maximum opening angle of the chin part 2451 from a physical structure perspective, preventing excessive opening and closing due to abnormal control signals or excessive motor rotation, and avoiding damage to the chin part 2451 or the head shell 241. The chin sensor switch 2454 is used to monitor the position of the chin 2451 in real time during movement. When the chin 2451 swings to the preset limit position, the chin sensor switch 2454 is triggered and sends an electrical signal to the control module 20. The control module 20 then instructs the chin rotation motor 2453 to stop or reverse, thus realizing closed-loop control of the chin opening and closing angle.

[0072] Specifically, the control module 20 can be signal-connected to the eye rotation motor 2444 and the chin rotation motor 2453 respectively, so that the opening and closing movement of the chin can be coordinated with the blinking of the eyelids. For example, when the control module 20 commands the tongue assembly 15 to extend, the chin rotation motor 2453 can be started simultaneously to make the chin part 2451 swing downward, simulating the vivid posture of opening the mouth and sticking out the tongue; when it is necessary to simulate the closed mouth state, the control module 20 commands the chin rotation motor 2453 to reverse, and the chin part 2451 returns to its original position and closes under the drive of the transmission component, which enhances the expressiveness and reliability of the facial movements of the bionic toy.

[0073] Specifically, please combine Figure 1a and Figure 8 The head assembly 24 also includes a traction pulley 32, which is located on the same side of the torso assembly 27 where the traction motor 22 is located. The traction rope 21 passes through the traction pulley 32, the pulley component 28 and the traction point 29 in sequence.

[0074] Understandably, in terms of improving transmission efficiency, the introduction of the traction pulley 32 transforms the sliding friction that might otherwise exist into rolling friction. Without the traction pulley 32, the traction rope 21 might scrape against the inner wall of the torso component 27 or head component 24 during long-distance travel. This sliding friction has significant resistance and consumes some of the output power of the traction motor 22. In this embodiment, after the traction rope 21 is output from the traction motor 22, it first passes through the traction pulley 32. The rolling surface of the traction pulley 32 provides a low-friction support point for the traction rope 21, so that the traction rope 21 hardly contacts other fixed components during movement. The traction pulley 32 guides the tension of the traction rope 21 towards the direction of the neck pulley 28, avoiding additional lateral resistance caused by deviation in the direction of tension. The entire path of the traction rope 21 is confined within the grooves of the traction pulley 32 and the pulley 28. Both pulleys adopt a smooth arc groove design, and the traction pulley 32 effectively prevents the traction rope 21 from directly rubbing against the sharp or rough edges of components.

[0075] Please combine Figure 2a , Figure 2a and Figure 12The linkage component 13 includes a linkage cam 131, a first connecting rod 132, and a second connecting rod 133. The head linkage motor 12 is disposed inside the head fixing body 240 and is connected to the linkage cam 131 for transmission. The linkage cam 131 is provided with a sliding groove 1310 on the side near the head linkage motor 12. One end of the first connecting rod 132 is housed in the sliding groove 1310 and the other end is movably connected to the ear trigger 16. The ear trigger 16 is provided with an ear assembly 14 at the end away from the first connecting rod 132. One end of the second connecting rod 133 is housed in the sliding groove 1310 and the other end is connected to the tongue assembly 15. The rotation of the linkage cam 131 drives the ear assembly 14 to rotate and swing relative to the head shell 241 and the tongue assembly 15 to perform telescopic movement relative to the head shell 241.

[0076] Understandably, in this embodiment, a head-mounted motor 12 simultaneously drives a linkage cam 131 with a sliding groove 1310 structure. This linkage cam 131 then drives a first link 132 and a second link 133, respectively controlling the movements of the ear assembly 14 and the tongue assembly 15. Specifically, when the head-mounted motor 12 operates, its power output is sent to the linkage cam 131, causing it to rotate. Since one end of the first link 132 and one end of the second link 133 are both housed within the sliding groove 1310 on the linkage cam 131, the rotational motion of the linkage cam 131 is converted into reciprocating linear motion or oscillation of the first link 132 and the second link 133 through changes in the contour of the sliding groove 1310. The first link 132 indirectly drives the ear assembly 14 via the ear trigger 16, causing it to rotate and oscillate relative to the head shell 241; the second link 133 directly drives the tongue assembly 15, causing it to extend and retract relative to the head shell 241. Specifically, a single head-mounted motor 12 and a linked cam 131 simultaneously achieve biomimetic movements of ear swaying and tongue extension / retraction, representing two different dimensions. Compared to existing technologies that use multiple independent drive components, complex movements that would normally require two or more drive components can be driven by a single head-mounted motor 12 in this embodiment. This reduces the number of motors, control circuits, and transmission components required inside the head housing 241, simplifying the internal structural layout and freeing up space for other functional modules or a more compact product design. Furthermore, since the power for both ear and tongue movements originates from the same linked cam 131, the initiation, rhythm, and cycle of their movements are determined by the single rotational motion of this cam, fundamentally avoiding the problem of asynchronous movements caused by differences in control signals or load variations between multiple independent motors. The timing of each ear sway and tongue extension / retraction can be set according to the user's preferences, making the doll's biomimetic movements more coordinated and enhancing the overall quality of the toy.

[0077] Furthermore, please refer to the following: Figure 11The head linkage motor 12 includes a linkage drive motor 121 and a linkage drive motor shaft 122 disposed on one side of the linkage drive motor 121. The linkage cam 131 includes a wheel disk portion 1311 and a connecting portion 1312 connected to each other. A motor shaft receiving groove 1313 is provided on the side of the connecting portion 1312 away from the wheel disk portion 1311. The linkage drive motor shaft 122 extends into the motor shaft receiving groove 1313 and connects with the connecting portion 1312.

[0078] Understandably, this embodiment further defines the specific connection method between the head linkage motor 12 and the linkage cam 131. The linkage cam 131 is composed of a wheel portion 1311 and a connecting portion 1312 connected together. During assembly, the linkage drive motor shaft 122 of the linkage drive motor 121 directly extends into the motor shaft receiving groove 1313, thereby achieving a fixed connection with the connecting portion 1312. The linkage drive motor 121 is connected to the linkage cam 131 by the linkage drive motor shaft 122 extending into the motor shaft receiving groove 1313. Specifically, since the motor shaft receiving groove 1313 is directly formed on the connecting portion 1312, its mating surface with the linkage drive motor shaft 122 can be made longer, which is beneficial for the high coincidence of the rotation center of the linkage drive motor shaft 122 and the rotation center of the linkage cam 131, reducing vibration and abnormal noise caused by eccentricity, and making the rotation of the linkage cam 131 more stable and smooth.

[0079] Furthermore, please combine Figure 2a , Figure 9 and Figure 13 The connecting part 1312 has a circular radial cross-section at one end near the wheel part 1311, and the midpoint of the circle is set as the rotation center point 1314 of the wheel part 1311. A sliding groove 1310 is opened on the side of the wheel part 1311 near the connecting part 1312. The distances between each point on the inner wall of the sliding groove 1310 and the rotation center point 1314 are not equal.

[0080] Understandably, the radial cross-section of the connecting portion 1312 near the end of the wheel portion 1311 is circular, and the midpoint of this circle serves as the rotation center point 1314 of the wheel portion 1311. A sliding groove 1310 is formed on the side of the wheel portion 1311 near the connecting portion 1312, i.e., the sliding groove 1310 is located on the end face of the wheel portion 1311. The distances from each point on the inner wall of the sliding groove 1310 to the aforementioned rotation center point 1314 are unequal. The sliding groove 1310 is a non-circular curved groove, such as an eccentric groove, an elliptical arc groove, or a cam groove with a specific profile. By designing the sliding groove 1310 as a curved groove with unequal distances from the rotation center point 1314, the transformation of the motion form is achieved. Specifically, when the linkage drive motor 121 drives the entire linkage cam 131 to rotate at a constant speed around the rotation center point 1314 via the connecting part 1312, the ends of the first connecting rod 132 and the second connecting rod 133, which are housed in the sliding groove 1310, will slide along the inner wall of the sliding groove 1310. Since the distance between different positions on the sliding groove 1310 and the rotation center point 1314 is different, the slider will generate a periodic radial displacement relative to the rotation center point 1314 while rotating with the cam. The radial displacement is transmitted outward through the first connecting rod 132 and the second connecting rod 133: the first connecting rod 132 converts the radial displacement into a reciprocating motion that pushes the ear trigger 16, thereby driving the ear assembly 14 to rotate and swing around the axis; the second connecting rod 133 directly converts the radial displacement into a linear reciprocating motion, driving the tongue assembly 15 to extend and retract back and forth. Thus, the continuous rotation of the linkage drive motor 121 in one direction is converted into two independent actions: the reciprocating swing of the ear and the reciprocating extension and retraction of the tongue. By adjusting the contour curve of the sliding groove 1310, the range of the ear's swing angle, the stroke of the tongue's extension and retraction, and the timing of their movements can be easily controlled. For example, the design is such that the tongue is fully extended when the ear swings to its maximum angle, making the motion characteristics of the entire linkage mechanism highly adjustable and adaptable to different biomimetic effects without changing other components.

[0081] For specific details, please refer to... Figure 12 and Figure 13 The first link 132 includes a first rod body 1321, a first slider 1322, and a first drive block 1323. The first rod body 1321 is arranged along the radial direction of the connecting part 1312 on the side of the wheel part 1311 near the head linkage motor 12. The first slider 1322 is arranged on the side of the first rod body 1321 away from the head linkage motor 12 and is slidably connected to the sliding groove 1310. The first drive block 1323 is arranged on the same side of the first rod body 1321 as the other end of the first slider 1322 and is spaced apart from the first slider 1322. The first drive block 1323 is slidably connected to the ear trigger 16.

[0082] Understandably, the first rod 1321, serving as the main frame, is positioned radially along the connecting portion 1312 on the side of the wheel portion 1311 near the head linkage motor 12. This radially extending layout allows the first connecting rod 132 to extend outward from the center of the linkage cam 131, effectively utilizing the space on the end face of the wheel portion 1311. The first slider 1322 is positioned on the side of the first rod 1321 away from the head linkage motor 12, i.e., facing the wheel portion 1311. The first slider 1322 extends directly into and is accommodated within the sliding groove 1310 of the linkage cam 131, forming a sliding fit with the inner wall of the sliding groove 1310, receiving motion input from the cam. The first drive block 1323 is positioned on the same side of the first rod 1321 where the other end of the first slider 1322 is mounted, and a predetermined distance is maintained between them. The first slider 1322 serves as the power input end, and the first drive block 1323 serves as the power output end. The length of the rod between the two can amplify the motion or adjust the stroke. The first drive block 1323 and the ear trigger 16 are slidably connected. Specifically, when the linkage cam 131 rotates, the inner wall of the sliding groove 1310 pushes the first slider 1322, causing the first slider 1322 to reciprocate in the radial direction. This displacement is transmitted to the first drive block 1323 through the first rod 1321. Since the first drive block 1323 is slidably connected to the ear trigger 16, the linear motion of the first drive block 1323 is converted into the rotational oscillation of the ear trigger 16 around its own axis. The first slider 1322 and the first drive block 1323 are located on the same side of the first rod 1321, making the center of gravity of the entire first connecting rod 132 closer to the wheel portion 1311, reducing the additional torque generated during the movement, reducing the lateral pressure of the slider in the sliding groove 1310, thereby reducing frictional resistance and making the transmission smoother. Meanwhile, the distance between the first drive block 1323 and the first slider 1322 can be adjusted according to the actual swing amplitude required. The longer the distance, the greater the swing angle of the ear trigger 16 under the same slider stroke. By changing this distance, different ear components 14 can be adapted.

[0083] Furthermore, please combine Figure 10 and Figure 14 The second connecting rod 133 includes a second rod body 1331 and a second slider 1332. The second rod body 1331 includes a second central rod 13311 and second connecting rods 13312 respectively disposed at both ends of the second central rod 13311. At least one second connecting rod 13312 is provided with a second slider 1332 on the side away from the second central rod 13311 corresponding to the sliding groove 1310. The second slider 1332 is slidably connected to the sliding groove 1310.

[0084] Understandably, the second connecting rod 133 has a frame-like structure resembling a "U" or "H" shape. At least one second connecting rod 13312 has a second slider 1332 on the side away from the second central rod 13311, and this second slider 1332 forms a sliding connection with the sliding groove 1310 on the linkage cam 131. Since the second connecting rods 13312 extend from both ends of the second central rod 13311, the entire second connecting rod 133 can span above or to both sides of the first connecting rod 132, allowing the second slider 1332 to be positioned within the sliding groove 1310 at a different location than the first slider 1322. The second connecting rod 133 and the first connecting rod 132 move in a coordinated, interference-free manner within the same sliding groove 1310. Specifically, the first slider 1322 of the first connecting rod 132 slides along a certain trajectory within the sliding groove 1310, while the second connecting rod 133 contacts different parts of the sliding groove 1310 through the second sliders 1332 on its two ends of the second connecting rod 13312. Because the second link 133 adopts a double-end supported structure, compared with the single-arm cantilever structure, the second link 133 experiences more balanced force when subjected to the driving force from the sliding groove 1310 during movement. The second link 133 can smoothly transmit the radial displacement of the sliding groove 1310 to the tongue assembly 15, making the extension and retraction of the tongue smoother. At the same time, the second center rod 13311 connects the two second connecting rods 13312 at both ends into a whole. Even if only one second connecting rod 13312 is equipped with a second slider 1332, the second connecting rod 13312 at the other end can also serve as a guide or limiting structure, further enhancing the stability of the movement of the second link 133. In addition, the second link 133 avoids the movement path of the first link 132, leaving sufficient room for the first link 132 to move and avoiding physical interference between the two links within the head housing 241. In this embodiment, the length of the second central rod 13311 and the extension direction of the second connecting rod 13312 can be flexibly adjusted to adjust the relative distance between the second connecting rod 133 and the first connecting rod 132, ensuring that the two always maintain a preset safety gap when sliding in the sliding groove 1310, thereby realizing a compact design in which a single sliding groove 1310 simultaneously drives two independent motion output ends.

[0085] For specific details, please refer to... Figure 11 and Figure 14 When the first link 132 and the second link 133 slide within the sliding groove 1310, there is a distance between the first link 132 and the second link 133.

[0086] Understandably, a distance is always maintained between the first link 132 and the second link 133, enabling the two moving parts to move independently without interference under the same power source. Specifically, since the first link 132 is responsible for driving the ear assembly 14 to swing, and the second link 133 is responsible for driving the tongue assembly 15 to extend and retract, although their movement trajectories and rhythms both originate from the same linkage cam 131, their movement directions and phases differ. If the two links come into contact during movement, the contact forces will interfere with their respective predetermined movements. In this embodiment, the structural design ensures that a gap always exists between them, so that the movement of the first link 132 will not cause any mechanical constraint or disturbance to the second link 133, ensuring that the ear swinging and tongue extension and retraction are executed independently according to the preset trajectory of the sliding groove 1310, without interference.

[0087] Furthermore, please combine Figure 12 and Figure 13 The ear assembly 14 includes an ear rotating rod 141 and an ear portion 142 disposed on the end face of the ear rotating rod 141. The ear trigger 16 includes an ear trigger main body 161 and an ear trigger connector 162 connected to each other. An ear trigger groove 163 is provided on the ear trigger 16. A first driving block 1323 is housed in the ear trigger groove 163 and is slidably connected to the ear trigger main body 161. The ear trigger connector 162 is sleeved on the ear rotating rod 141. When the first driving block 1323 slides in the ear trigger groove 163, the ear trigger 16 drives the ear rotating rod 141 to rotate relative to the head shell 241 to realize the ear assembly 14 rotating and swinging relative to the head shell 241.

[0088] Understandably, in this embodiment, the ear assembly 14 consists of an ear rotating rod 141 and an ear portion 142 fixed to its end face. An ear trigger main body 161 has an ear trigger groove 163, and a first drive block 1323 is housed within this groove and slidably connected thereto. An ear trigger connector 162 is sleeved on the ear rotating rod 141, forming a fixed connection or a circumferential limiting connection, thus achieving a smooth transition from linear reciprocating motion to rotational oscillation. Specifically, when the first drive block 1323 of the first connecting rod 132 performs radial linear reciprocating motion with the rotation of the linkage cam 131, the first drive block 1323 slides within the ear trigger groove 163. Since the extension direction of the ear trigger groove 163 is at a certain angle to the movement direction of the first drive block 1323, the linear motion of the first drive block 1323 pushes the ear trigger main body 161, causing the entire ear trigger 16 to generate a torque around the axis of the ear rotating rod 141. The torque drives the ear trigger connector 162 to rotate together with the ear rotating rod 141, thereby causing the ear portion 142, which is located on the end face of the ear rotating rod 141, to swing relative to the head shell 241. When the first drive block 1323 moves in the opposite direction, the ear trigger 16 and the ear rotating rod 141 rotate in the opposite direction to achieve reciprocating swing.

[0089] Furthermore, please combine Figure 10 and Figure 14 The second link 133 also includes a tongue trigger 1333, which is located on the side of the second center rod 13311 away from the linkage cam 131; the head assembly 24 also includes a limiting member 17, which is located on the same side of the head fixing body 240 as the linkage assembly 13, and the limiting member 17 has a limiting channel corresponding to the second connecting rod 13312; when the second slider 1332 slides in the sliding groove 1310, the second link 133 drives the tongue assembly 15 to perform telescopic movement relative to the head shell 241.

[0090] Understandably, in this embodiment, the movement direction of the second connecting rod 133 is guided by the cooperation between the limiting member 17 and the second connecting rod 13312. Specifically, when the second slider 1332 slides within the sliding groove 1310 and drives the entire second connecting rod 133 to move, the limiting channel restricts the displacement of the second connecting rod 13312 in the direction perpendicular to the movement plane, so that the second connecting rod 13312 can only move back and forth along the extension direction of the limiting channel. Since the second connecting rod 13312 is fixedly connected to the second central rod 13311, the movement of the entire second connecting rod 133 is constrained to a single linear reciprocating motion, eliminating the swaying and shaking caused by the lateral force of the sliding groove 1310. The stable linear motion is transmitted to the tongue assembly 15 through the tongue trigger 1333 located at the end of the second central rod 13311, so that the tongue assembly 15 can smoothly extend and retract along the preset track on the head housing 241. Meanwhile, the limiting channel can also share some of the lateral load borne by the second link 133 during movement, reducing friction and wear between the second slider 1332 and the sliding groove 1310. Furthermore, the tongue trigger 1333, serving as the interface between the second link 133 and the tongue assembly 15, can be designed to adapt its shape and position to the specific structure of the tongue assembly 15, such as a push rod or hook-like structure. Specifically, the limiting member 17 can be installed inside the head housing 241 or integrally formed with the head housing 241.

[0091] Furthermore, please combine Figure 9 and Figure 13 For example, the wheel portion 1311 rotates around the rotation center point 1314 at an angle of 0°-360°, wherein the rotation angle includes a first angle and a second angle. The first angle is 0°-40° for controlling the ear canal to swing, and the second angle is 40°-360° for controlling the tongue to extend and retract.

[0092] Understandably, this embodiment limits the rotation of the wheel portion 1311 to 0°-360°, and different action outputs correspond to different angle ranges. When the wheel portion 1311 rotates from the starting position through the first angle range, the inner wall of the sliding groove 1310 mainly drives the first connecting rod 132 to produce radial displacement, while the second connecting rod 133 hardly moves, allowing the ear assembly 14 to perform a swinging motion, while the tongue assembly 15 remains basically stationary. When the wheel portion 1311 continues to rotate into the second angle range, the inner wall of the sliding groove 1310 then mainly drives the second connecting rod 133 to produce radial displacement, driving the tongue assembly 15 to perform a telescoping motion, while the ear assembly 14 may maintain its swinging posture or slowly return to its original position. Through this segmented contour design, a complete 360° rotation cycle is divided into action stages with different functions. By corresponding the ear swinging and tongue telescoping to different rotation angle ranges, the sequential execution of the two bionic actions is achieved.

[0093] For example, a first angle range is specifically used for ear movement. In the initial stage of the rotation of the linkage cam 131, the ear will first erect or rotate, giving the user a visual signal that the doll is paying attention or listening. Then, in the second angle range, the tongue protrudes from the mouth, expressing a friendly or excited "tongue-out" state, enhancing the vividness and emotional expressiveness of the biomimetic toy. Optionally, the first angle can also be 0-20°, 10-30°, or 20°-40°, and the second angle can also be 40-180°, 90-250°, or 180°-360°.

[0094] Specifically, please refer to Figure 1. Figure 10 and Figure 15 The toy linkage assembly 100 also includes an ear sensor switch 18 and a tongue sensor switch 19. The control module 20 is electrically connected to the head linkage motor 12, the ear sensor switch 18, and the tongue sensor switch 19, respectively. The control module 20 is disposed inside the head housing 241. The ear sensor switch 18 is disposed on one side of the head fixing body 240 corresponding to the ear assembly 14, and the tongue sensor switch 19 is disposed on one side of the head fixing body 240 corresponding to the tongue assembly 15.

[0095] Understandably, when the ear assembly 14 swings to its extreme position on one side under the drive of the linkage cam, it will touch the corresponding ear sensor switch 18 on that side. The ear sensor switch 18 will then send an electrical signal to the control module 20. After receiving the signal, the control module 20 determines the position of the ear assembly 14. When it is necessary to control the ear rotation, it can control the drive motor to reverse, and the ear assembly 14 will swing in the opposite direction. Similarly, the tongue assembly 15 will touch the corresponding tongue sensor switch 19 on that side. The tongue sensor switch 19 will then send an electrical signal to the control module 20 to confirm the position of the tongue assembly 15. This embodiment can realize the linkage between the ear assembly 14 and the tongue assembly 15, or the controllable movement of the ear assembly 14 or the tongue assembly 15 can be realized through the cooperation of the two sensor switches and the control module 20. The control module 20 can precisely control the timing of the forward and reverse rotation of the motor according to the trigger signal of the sensor switch. The control module 20 can instruct the motor to stop at the current angle, or to reverse after only half a cycle of oscillation, simulating the random sensation of a pet's ear twitching and tongue sticking out, thus enhancing the interactive responsiveness of the bionic toy. For example, the ear-sensing switch 18 and the tongue-sensing switch 19 can be microswitches; the specific switch type is not limited.

[0096] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A biomimetic toy component, characterized in that: The bionic toy assembly includes a control module and an execution module. The execution module includes a traction rope, a traction motor, and a torso motor, as well as a head assembly, a neck assembly, a chest assembly, and a torso assembly that are sequentially and movably connected in sequence. The head assembly includes a head shell, and a head linkage motor, a linkage component, an ear component, a tongue component, and an ear trigger disposed within the head shell. The head linkage motor and the linkage component are drivenly connected. The linkage component is movably connected to one end of the tongue component and one end of the ear trigger, respectively. The other end of the ear trigger is movably connected to the ear component. The torso assembly has a traction motor on one side and a torso motor on the other side near the chest component. The torso motor is rotatably connected to the chest component. The neck component has a pulley component on the side near the traction motor. The head assembly has a traction point on the side near the traction motor. The traction rope is disposed on the side of the traction motor near the head assembly, passes through the pulley component, and connects to the traction point. The control module is connected to the traction motor, the torso motor and the head linkage motor respectively. The traction motor controls the traction rope to drive the head assembly to perform pitching motion relative to the neck assembly, and / or, the torso motor controls the chest assembly to perform pitching motion relative to the torso assembly, and / or, the head linkage motor controls the linkage assembly to drive the ear assembly to perform swinging motion relative to the head shell and the tongue assembly to perform telescoping motion relative to the head shell.

2. The biomimetic toy component as described in claim 1, characterized in that: The torso assembly includes a torso main body and a torso connecting part. The torso motor is located at one end of the torso connecting part away from the torso main body. The chest assembly includes a chest main body, a first chest connecting part, and a second chest connecting part. The first chest connecting part is located at opposite ends of the chest main body and is rotatably connected to the torso motor. The second chest connecting part is located on the side of the chest main body away from the torso assembly and is connected to the neck assembly. The plane on the side of the torso assembly away from the traction motor is defined as a horizontal plane. The torso motor controls the chest assembly to perform pitching motion relative to the horizontal plane in a direction closer to the torso assembly.

3. The biomimetic toy component as described in claim 2, characterized in that: The second chest connection includes a rotatably connected neck motor and a neck rotating disk, the neck motor being connected to the chest body; the neck assembly includes a neck body, a first neck connection, and a neck fixing part, the neck body being connected to the neck rotating disk, the first neck connection being disposed at opposite ends of the neck body away from the chest assembly, and the first neck connection being rotatably connected to the head assembly, the neck fixing part having a clearance channel, the wheel slide being disposed within the clearance channel, the neck motor being signal-connected to the control module, and the neck motor driving the neck assembly to rotate relative to the chest assembly along the circumferential direction of the neck rotating disk.

4. The biomimetic toy component as described in claim 3, characterized in that: The head assembly further includes a head swing motor, a head connector, and a head fixing body. The head fixing body is disposed inside the head housing, the head swing motor is disposed inside the head fixing body, and the linkage component is disposed on one side of the head fixing body. The head swing motor is signal-connected to the control module. The head swing motor is disposed between the head housing and the head connector, and is rotatably connected to the head connector. The head swing motor drives the head housing to perform reciprocating swing motion towards the opposite sides of the neck assembly. The head connector includes a head connecting main body and a head connecting rotating part. The head connecting main body has a mounting groove on the side near the traction motor, and the traction point is disposed in the mounting groove. The first neck connecting part has a rotating groove at the end away from the neck main body. The head connecting rotating parts are respectively disposed at opposite ends of the head connecting main body, and the head connecting rotating parts are rotatably connected to the rotating groove. When the traction rope is applied or canceled, the head assembly performs pitching motion relative to the neck.

5. The bionic toy component as described in claim 4, characterized in that: The head assembly also includes an eye assembly, which includes an eyelid, an eye linkage, an eye sensor switch, an eye rotation cam, and an eye rotation motor. The eye rotation motor is disposed inside the head fixing body, and its two ends pass through the head fixing body and are rotatably connected to one end of the eye rotation cam. The eye sensor switch is disposed on the head fixing body corresponding to the eye rotation cam. The other end of the eye rotation cam is sleeved on the eye linkage and rotatably connected to the eye linkage. The eyelid is disposed at the end of the eye linkage away from the eye rotation cam. The eye rotation cam drives the eyelid to swing relative to the head housing.

6. The bionic toy component as described in claim 5, characterized in that: The head assembly also includes a chin assembly, which includes a chin portion, a chin drive component, a chin sensor switch, and a chin rotation motor. The chin rotation motor is disposed inside the head fixing body. One end of the chin drive component meshes with the chin rotation motor, and the other end is provided with a chin swing portion. The head fixing body is provided with a chin sensor switch and a chin swing limit component corresponding to the chin. The chin portion is disposed at the end of the chin drive component away from the chin rotation motor. The control module is connected to the eye rotation motor and the chin rotation motor respectively. The chin rotation motor drives the chin portion to swing relative to the head housing.

7. The biomimetic toy component as described in claim 4, characterized in that: The linkage component includes a linkage cam, a first link, and a second link. The head linkage motor is disposed within the head fixing body and is connected to the linkage cam via a transmission. The linkage cam has a sliding groove on the side near the head linkage motor. One end of the first link is housed in the sliding groove, and the other end is movably connected to the ear trigger. The ear trigger is disposed at the end away from the first link, and the second link is housed in the sliding groove, and the other end is connected to the tongue assembly.

8. The biomimetic toy component as described in claim 7, characterized in that: The head linkage motor includes a linkage drive motor and a linkage drive motor shaft disposed on one side of the linkage drive motor. The linkage cam includes a connected wheel portion and a connecting portion. The connecting portion has a motor shaft receiving groove on the side away from the wheel portion. The linkage drive motor shaft extends into the motor shaft receiving groove and connects to the connecting portion. The toy linkage assembly also includes a limiting member. The limiting member is disposed on the same side of the head fixing body where the linkage assembly is disposed. The limiting member has a limiting rolling groove corresponding to the linkage cam. The limiting rolling groove has a limiting opening corresponding to the first connecting rod. The limiting member has a limiting channel corresponding to the second connecting rod. The linkage cam rotates within the limiting rolling groove. The connecting portion has a circular radial cross-section at the end near the wheel portion. The midpoint of the circle is set as the rotation center point of the wheel portion. The wheel portion has a sliding groove on the side near the connecting portion. The distances between each point on the inner wall of the sliding groove and the rotation center point are not equal.

9. The bionic toy component as described in claim 8, characterized in that: The first connecting rod includes a first rod body, a first slider, and a first drive block. The first rod body is disposed radially along the connecting portion on the side of the wheel portion near the head linkage motor. The first slider is disposed on the side of the first rod body away from the head linkage motor and is slidably connected to the sliding groove. The first drive block is disposed on the same side of the first rod body where the other end of the first slider is disposed and is spaced apart from the first slider. The first drive block is slidably connected to the ear trigger. The second connecting rod includes a second rod body, a second slider, and a tongue trigger. The second rod body includes a second central rod and second connecting rods respectively disposed at both ends of the second central rod. At least one second connecting rod has a second slider disposed on the side of the second connecting rod away from the second central rod corresponding to the sliding groove, and the second slider is slidably connected to the sliding groove. The tongue trigger is disposed on the side of the second central rod away from the linkage cam. The head assembly also includes a limiting member, which has a limiting channel corresponding to the second connecting rod. When the second slider slides in the sliding groove, the second connecting rod drives the tongue assembly to perform telescopic movement relative to the head housing.

10. The biomimetic toy component as described in claim 9, characterized in that: The ear assembly includes an ear rotating rod and an ear portion disposed on the end face of the ear rotating rod. The ear trigger includes an ear trigger main body and an ear trigger connector connected together. The ear trigger has an ear trigger groove. The first driving block is accommodated in the ear trigger groove and slidably connected to the ear trigger main body. The ear trigger connector is sleeved on the ear rotating rod. When the first driving block slides in the ear trigger groove, the ear trigger drives the ear rotating rod to rotate relative to the head shell to implement the ear assembly's rotational swing relative to the head shell.

11. The biomimetic toy component as described in claim 4, characterized in that: The bionic toy assembly also includes an ear sensor switch and a tongue sensor switch. The control module is electrically connected to the head linkage motor, the ear sensor switch, and the tongue sensor switch, respectively. The control module is located inside the head shell. The ear sensor switch is located on one side of the head fixing body corresponding to the ear assembly, and the tongue sensor switch is located on one side of the head fixing body corresponding to the tongue assembly.

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